面向激光加工的六轴机器人离线编程研究
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摘要
本文主要研究的是一种新型的机器人编程技术，从CAD模型中直接生成机器人的执行程序。机器人编程技术的发展可分为三个级别：示教级、操作手级、任务级。示教级：操作者操纵示教盒，移动机器人到指定位置的示教点，此时机器人的控制系统记录下当时位置参数、速度参数和一些其它的相关参数，并且自动生成相应的移动指令。操作手级：通常使机器人末端执行器从一个位置运动到另一个位置的一系列命令组成，所以也称为动作级编程。任务级：这是当前机器人编程的最高级别。任务级编程时，编程者只给机器人直接下达执行某一确定任务的命令，应用人工智能的技术使机器人自动完成指定任务，而不需要指定机器人每一个动作的细节。
工业机器人在激光柔性加工中的应用已日益广泛，但通常是在加工现场通过人工在线示教的方式来编程的，这是一件非常枯燥和单调的工作。基于目前加工过程中的实际情况，急需开发机器人的离线自动编程。离线编程不对实际作业的机器人进行示教，而是通过计算机中存储的CAD模型，直接生成机器人加工程序，这样就解决了限制加工效率提高的瓶颈问题。并且对离线编程中的关键技术，即从CAD模型中提取激光加工轨迹数据信息，然后在这些原始数据的基础上，如何自动生成机器人的可执行文件，作了着重分析。这些技术，保证了离线编程的实用性和开放性，具有理论和实际意义，已经在激光加工中取得较好的应用。
This paper investigates a novel robot-programming approach that generates a robot program automatically from a CAD model. The development of robot-programming techniques can be categorized as lead-through programming, manipulator-level languages and task-level languages. In the Lead through methods, the programmer needs to physical move the robot through the desired positions or paths and record the motion into the controller memory. Manipulate-level methods use symbolic/structural languages to describe the robot motion. Task-level approaches may incorporate and use natural languages to describe the robot task in an objective-oriented rather than manipulator-oriented way.
Nowadays, industrial robots are used extensively for simple, repetitive, boring and hazardous in laser processing. There are basically two methods for programming industrial robots, namely, on-line and off-line. On-line teaching, a process that is tedious and time-consuming, usually programs robots in industry. In the process of teaching, the robot is manually moved to a number of desired of positions, and the robot control system stores the coordinates of the positions. By this way, the program is written that will step the robot through the sequence of the taught points. To overcome the problems in on-line programming, we develop the off-line programming which greatly improve the efficiency of robots. For example, it allows application prepared separately, so that the robot can continue to perform the current job , which will greatly reduce the waiting time. In order to realize laser prototyping, the following steps are needed. Based on 6-axis robot , this paper systematically studied the basic principle and method of off-line programming for direct laser fabrication system with metal powder.
工业机器人在激光柔性加工中的应用已日益广泛，但通常是在加工现场通过人工在线示教的方式来编程的，这是一件非常枯燥和单调的工作。基于目前加工过程中的实际情况，急需开发机器人的离线自动编程。离线编程不对实际作业的机器人进行示教，而是通过计算机中存储的CAD模型，直接生成机器人加工程序，这样就解决了限制加工效率提高的瓶颈问题。并且对离线编程中的关键技术，即从CAD模型中提取激光加工轨迹数据信息，然后在这些原始数据的基础上，如何自动生成机器人的可执行文件，作了着重分析。这些技术，保证了离线编程的实用性和开放性，具有理论和实际意义，已经在激光加工中取得较好的应用。
This paper investigates a novel robot-programming approach that generates a robot program automatically from a CAD model. The development of robot-programming techniques can be categorized as lead-through programming, manipulator-level languages and task-level languages. In the Lead through methods, the programmer needs to physical move the robot through the desired positions or paths and record the motion into the controller memory. Manipulate-level methods use symbolic/structural languages to describe the robot motion. Task-level approaches may incorporate and use natural languages to describe the robot task in an objective-oriented rather than manipulator-oriented way.
Nowadays, industrial robots are used extensively for simple, repetitive, boring and hazardous in laser processing. There are basically two methods for programming industrial robots, namely, on-line and off-line. On-line teaching, a process that is tedious and time-consuming, usually programs robots in industry. In the process of teaching, the robot is manually moved to a number of desired of positions, and the robot control system stores the coordinates of the positions. By this way, the program is written that will step the robot through the sequence of the taught points. To overcome the problems in on-line programming, we develop the off-line programming which greatly improve the efficiency of robots. For example, it allows application prepared separately, so that the robot can continue to perform the current job , which will greatly reduce the waiting time. In order to realize laser prototyping, the following steps are needed. Based on 6-axis robot , this paper systematically studied the basic principle and method of off-line programming for direct laser fabrication system with metal powder.
引文
1 蔡鹤皋．机器人将是21世纪技术发展的热点．中国机械工程．2000，11(1-2)：58-60
2 田劲松．机器人弧焊任务级离线编程技术的研究．哈尔滨工业大学博士论文．2001
3 中国机械工程协会焊接分会编．焊接手册，第一卷，焊接方法及设备．北京：机械工业出版社，1992：648-649
4 林尚扬．我国机械制造业中焊接机器人的应用现状及发展趋势．第八次全国焊接会议论文集，第一册，1997：64-74
5 陈配云，金茂菁，忠萍．我国工业机器人发展现状．机器人技术与应用．2001，(1)：2-5
6 林尚扬．我国机械制造业中焊接机器人的应用现状与发展趋势(上)．机械工人．1999，(5)：3-5，7
7 熊有伦．机器人技术基础．武汉：华中理工大学出版社，1996
8 将新松．机器人学导论．沈阳：辽宁科技出版社，1994
9 熊有伦，丁汉．机器人学．北京：机械工业出版社，1993
10 林尚扬．我国机械制造业中焊接机器人的应用现状与发展趋势(下)．机械工人．1999，(6)：3-4，48
11 Shigeki Toyama. Development of Simulation System of Robot Motion. Proceedings of 85 International Conference on Advanced Robotics, 227-234
12 Animated Simulation of Intelligent Robot Workcells. Technical Paper of Society Manufacturing Engineers of USA. 1988:19.55-19.69
13 S.F. Chan, R.H. Weston, K. Case. Robot Simulation and Off-line Programming.Computer Aided Engineering Journal. August, 1988:157-162
14 K. Kitajima. Interactive Robot Simulation for High-level Tasks. Computer Aided Design. 1988, 20(2): 93-99
15 R.N. Stauffer. Designing the Robotic Workcell. Robotics Today. June, 1987:21-26
16 M. H. Amg, W. Lin and S. Y. Lim. A Walk-through Programmed Robot for Welding in Shipyards. Industrial Robot. 1999, 26(5): 377-388
17 陈志翔，黄勇，殷树言，卢振洋．弧焊机器人离线编程系统分析与设计．机械工程学报．2000，37(10)：104-106
18 陈志翔．基于遗传模拟退火算法的弧焊机器人系统协调路径规划．北京工业大学博士论文．2002
19 Matin Kortus. An Alternative Approach to Off-line Programming. Industrial Robot.1993, 20(4): 17-20
20 Bijan Shirinzadeb. Task Planning and Off-line Programming. Industrial Robot.1996, 23(5): 4-5
21 F.N.Kissilevskii et. al. Arc Welding Textual Programming and Teaching.Proceedings of the First International Conference on Advanced Welding Systems. London,1985:41-48
22 A. Krochan. Off-line Programming Essential to Meet Robot Demand. Industrial Robot. 1995, 22(3): 27-28
23 蔡自兴．机器人学．北京：清华大学出版社，2000
24 S. Boopathy, V. Radhakrishnan. An Approach to Robot Off-line Programming and Simulation for Flexible Manufacturing Systems. Proceedings of the IEEE/IAS International Conference on Industrial Automation and Control, 1995:461-466
25 伐谋．出人意料的增长率．机器人技术与应用．1997，10(1)：30
26 Adededji B. Badiru. An Integrative Approach to Designing Expert Systems for Robot Selection. Robot Today.1992, 5(4): 4-6
27 R. A. Willgoss. The Integration of Welding into CIM. Proceedings of the Second International Conference in Automated and Robotic Welding. London, 1987:9-20
28 K. H. Gob. WRAPS-Welding Robot Adaptive Off-line Programming and Expert Control Systems. Proceedings of the Second International Conference in Automated and Robotic Welding. London,1987:33-42
29 赵东波，熊有伦．机器人离线编程系统的研究．机器人．1997，19(4)：314-320
30 Maria Gini. The Future of Robot Programming. Robotics. 1987, 5 (2): 235-246
31 G.C. Carvalho, et al. Off-line Programming of Flexible Welding Manufacturing Cell. Journal of Materials Processing Technology. 1998, 78(1): 24-28
32 付宜利．基于动态图形仿真的机器人离线编程技术研究与系统开发．哈尔滨工业大学博士论文．1996
33 John Owens.Task Planning in Robot Simulation. Industrial Robot. 1996, 23 (5):21-24
34 S. Zeghloul, et al. SMAR: A Robot Modeling and Simulation System. Robotics.1997, 15 (1): 63-73
35 高德思．软件模拟产生了虚拟制造．现代制造技术．1994，8
36 黄桂莲．装配机器人离线编程系统．华南理工大学硕士学位论文．1989
37 张继禹．智能机器人机构CAD及仿真系统——IRSS．机器人．1992，14(6)：40—44
38 Phil Howie. Graphic Simulation for Off-line Robot Programming. Robotics today.1984,6(2): 63-65
39 邱涛．弧焊机器人柔性加工单元系统集成及优化技术研究．哈尔滨工业大学博士论文．2001
40 秦锋，徐向荣，章家岩．一个机器人仿真系统的开发．机械．1994，16(3)：18—23
41 俞文伟，邓建一．一个ROSIDY通用化工业机器人图形仿真软件．机器人．1993，15(1)：25-28
42 姚忠等．基于微机的PUMA262机器人的离线编程系统．机器人．1994，16(6)：272-278
43 催培莲，孙增圻．微机机器人仿真系统PCROBSM．机器人．1995，17(1)：25-31
44 许国桦等，CAD／CG在机器人离线编程中的应用．计算机辅助设计与图形学学报．1996，8(2)：149—154
45 郭根成．机器人三维图形仿真系统的设计．洛阳工学院学报．1997，18(4)：53—57
46 冯乔生等．基于AUTOCAD-API的机器人几何造型的装配算法．计算机工程与应用．1998，(6)：37—38
47 冯乔生等．基于AUTOCAD的机器人参数化三维实体造型．计算机工程与图形学学报．2000，12(3)：207—210
48 Ding Hah, et al. Computer-aided Off-line Planning of Robot Motion. Robot and Autonomous Systems.1991, (7): 67-72
49 赵东波，熊有伦．面向对象机器人离线编程系统的设计准则．1997，19(6)：401—406
50 John J. Craig. Arc Welding Simulation Simplifies Programming. Robotics World.1987,(3): 24-25
2 田劲松．机器人弧焊任务级离线编程技术的研究．哈尔滨工业大学博士论文．2001
3 中国机械工程协会焊接分会编．焊接手册，第一卷，焊接方法及设备．北京：机械工业出版社，1992：648-649
4 林尚扬．我国机械制造业中焊接机器人的应用现状及发展趋势．第八次全国焊接会议论文集，第一册，1997：64-74
5 陈配云，金茂菁，忠萍．我国工业机器人发展现状．机器人技术与应用．2001，(1)：2-5
6 林尚扬．我国机械制造业中焊接机器人的应用现状与发展趋势(上)．机械工人．1999，(5)：3-5，7
7 熊有伦．机器人技术基础．武汉：华中理工大学出版社，1996
8 将新松．机器人学导论．沈阳：辽宁科技出版社，1994
9 熊有伦，丁汉．机器人学．北京：机械工业出版社，1993
10 林尚扬．我国机械制造业中焊接机器人的应用现状与发展趋势(下)．机械工人．1999，(6)：3-4，48
11 Shigeki Toyama. Development of Simulation System of Robot Motion. Proceedings of 85 International Conference on Advanced Robotics, 227-234
12 Animated Simulation of Intelligent Robot Workcells. Technical Paper of Society Manufacturing Engineers of USA. 1988:19.55-19.69
13 S.F. Chan, R.H. Weston, K. Case. Robot Simulation and Off-line Programming.Computer Aided Engineering Journal. August, 1988:157-162
14 K. Kitajima. Interactive Robot Simulation for High-level Tasks. Computer Aided Design. 1988, 20(2): 93-99
15 R.N. Stauffer. Designing the Robotic Workcell. Robotics Today. June, 1987:21-26
16 M. H. Amg, W. Lin and S. Y. Lim. A Walk-through Programmed Robot for Welding in Shipyards. Industrial Robot. 1999, 26(5): 377-388
17 陈志翔，黄勇，殷树言，卢振洋．弧焊机器人离线编程系统分析与设计．机械工程学报．2000，37(10)：104-106
18 陈志翔．基于遗传模拟退火算法的弧焊机器人系统协调路径规划．北京工业大学博士论文．2002
19 Matin Kortus. An Alternative Approach to Off-line Programming. Industrial Robot.1993, 20(4): 17-20
20 Bijan Shirinzadeb. Task Planning and Off-line Programming. Industrial Robot.1996, 23(5): 4-5
21 F.N.Kissilevskii et. al. Arc Welding Textual Programming and Teaching.Proceedings of the First International Conference on Advanced Welding Systems. London,1985:41-48
22 A. Krochan. Off-line Programming Essential to Meet Robot Demand. Industrial Robot. 1995, 22(3): 27-28
23 蔡自兴．机器人学．北京：清华大学出版社，2000
24 S. Boopathy, V. Radhakrishnan. An Approach to Robot Off-line Programming and Simulation for Flexible Manufacturing Systems. Proceedings of the IEEE/IAS International Conference on Industrial Automation and Control, 1995:461-466
25 伐谋．出人意料的增长率．机器人技术与应用．1997，10(1)：30
26 Adededji B. Badiru. An Integrative Approach to Designing Expert Systems for Robot Selection. Robot Today.1992, 5(4): 4-6
27 R. A. Willgoss. The Integration of Welding into CIM. Proceedings of the Second International Conference in Automated and Robotic Welding. London, 1987:9-20
28 K. H. Gob. WRAPS-Welding Robot Adaptive Off-line Programming and Expert Control Systems. Proceedings of the Second International Conference in Automated and Robotic Welding. London,1987:33-42
29 赵东波，熊有伦．机器人离线编程系统的研究．机器人．1997，19(4)：314-320
30 Maria Gini. The Future of Robot Programming. Robotics. 1987, 5 (2): 235-246
31 G.C. Carvalho, et al. Off-line Programming of Flexible Welding Manufacturing Cell. Journal of Materials Processing Technology. 1998, 78(1): 24-28
32 付宜利．基于动态图形仿真的机器人离线编程技术研究与系统开发．哈尔滨工业大学博士论文．1996
33 John Owens.Task Planning in Robot Simulation. Industrial Robot. 1996, 23 (5):21-24
34 S. Zeghloul, et al. SMAR: A Robot Modeling and Simulation System. Robotics.1997, 15 (1): 63-73
35 高德思．软件模拟产生了虚拟制造．现代制造技术．1994，8
36 黄桂莲．装配机器人离线编程系统．华南理工大学硕士学位论文．1989
37 张继禹．智能机器人机构CAD及仿真系统——IRSS．机器人．1992，14(6)：40—44
38 Phil Howie. Graphic Simulation for Off-line Robot Programming. Robotics today.1984,6(2): 63-65
39 邱涛．弧焊机器人柔性加工单元系统集成及优化技术研究．哈尔滨工业大学博士论文．2001
40 秦锋，徐向荣，章家岩．一个机器人仿真系统的开发．机械．1994，16(3)：18—23
41 俞文伟，邓建一．一个ROSIDY通用化工业机器人图形仿真软件．机器人．1993，15(1)：25-28
42 姚忠等．基于微机的PUMA262机器人的离线编程系统．机器人．1994，16(6)：272-278
43 催培莲，孙增圻．微机机器人仿真系统PCROBSM．机器人．1995，17(1)：25-31
44 许国桦等，CAD／CG在机器人离线编程中的应用．计算机辅助设计与图形学学报．1996，8(2)：149—154
45 郭根成．机器人三维图形仿真系统的设计．洛阳工学院学报．1997，18(4)：53—57
46 冯乔生等．基于AUTOCAD-API的机器人几何造型的装配算法．计算机工程与应用．1998，(6)：37—38
47 冯乔生等．基于AUTOCAD的机器人参数化三维实体造型．计算机工程与图形学学报．2000，12(3)：207—210
48 Ding Hah, et al. Computer-aided Off-line Planning of Robot Motion. Robot and Autonomous Systems.1991, (7): 67-72
49 赵东波，熊有伦．面向对象机器人离线编程系统的设计准则．1997，19(6)：401—406
50 John J. Craig. Arc Welding Simulation Simplifies Programming. Robotics World.1987,(3): 24-25